LandmarkDetectorTypes.h

Go to the documentation of this file.

// This code contains NVIDIA Confidential Information and is disclosed
// under the Mutual Non-Disclosure Agreement.
//
// Notice
// ALL NVIDIA DESIGN SPECIFICATIONS AND CODE ("MATERIALS") ARE PROVIDED "AS IS" NVIDIA MAKES
// NO REPRESENTATIONS, WARRANTIES, EXPRESSED, IMPLIED, STATUTORY, OR OTHERWISE WITH RESPECT TO
// THE MATERIALS, AND EXPRESSLY DISCLAIMS ANY IMPLIED WARRANTIES OF NONINFRINGEMENT,
// MERCHANTABILITY, OR FITNESS FOR A PARTICULAR PURPOSE.
//
// NVIDIA Corporation assumes no responsibility for the consequences of use of such
// information or for any infringement of patents or other rights of third parties that may
// result from its use. No license is granted by implication or otherwise under any patent
// or patent rights of NVIDIA Corporation. No third party distribution is allowed unless
// expressly authorized by NVIDIA.  Details are subject to change without notice.
// This code supersedes and replaces all information previously supplied.
// NVIDIA Corporation products are not authorized for use as critical
// components in life support devices or systems without express written approval of
// NVIDIA Corporation.
//
// Copyright (c) 2015-2020 NVIDIA Corporation. All rights reserved.
//
// NVIDIA Corporation and its licensors retain all intellectual property and proprietary
// rights in and to this software and related documentation and any modifications thereto.
// Any use, reproduction, disclosure or distribution of this software and related
// documentation without an express license agreement from NVIDIA Corporation is
// strictly prohibited.
//

#ifndef DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_TYPES_H_
#define DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_TYPES_H_

#include <dw/core/Types.h>
#include <dw/worldmodel/LandmarkTypes.h>

#define DW_LANEMARK_TRACKID_MAX 100
#define DW_LANEMARK_TRACKID_INVALID DW_LANEMARK_TRACKID_MAX + 1

#define DW_LANEMARK_MAX_COUNT 32
#define DW_LANEMARK_POINT_MAX_COUNT 128

#define DW_POLE_DETECTION_MAX_COUNT 32

#define DW_LANDMARK_MAX_COUNT 128
#define DW_LANDMARK_POINT_MAX_COUNT 512

typedef enum {
    DW_LANEMARK_POSITION_INVALID             = 0, 
    DW_LANEMARK_POSITION_ADJACENT_LEFT_RIGHT = 1, 
    DW_LANEMARK_POSITION_ADJACENT_LEFT       = 2, 
    DW_LANEMARK_POSITION_EGO_LEFT            = 3, 
    DW_LANEMARK_POSITION_EGO_RIGHT           = 4, 
    DW_LANEMARK_POSITION_ADJACENT_RIGHT      = 5, 
    DW_LANEMARK_POSITION_ADJACENT_RIGHT_LEFT = 6, 
    DW_LANEMARK_POSITION_UNDEFINED           = 7  

} dwLanePositionType;

typedef struct
{
    uint32_t trackId;

    float32_t confidence;

    dwLanePositionType positionType;

    dwLaneMarkType lineType;

    uint32_t numPoints;

    dwVector2f imagePoints[DW_LANEMARK_POINT_MAX_COUNT];

    dwVector2f worldPoints[DW_LANEMARK_POINT_MAX_COUNT];

    float32_t confidenceValues[DW_LANEMARK_POINT_MAX_COUNT];

} dwLaneMarking;

typedef struct dwLaneDetection
{

    uint32_t numLaneMarkings;

    dwLaneMarking laneMarkings[DW_LANEMARK_MAX_COUNT];

    dwTime_t timestamp;

} dwLaneDetection;

// A definition of one pole.
typedef struct dwPole
{
    uint32_t numPoints;

    dwVector2f points[DW_LANDMARK_POINT_MAX_COUNT];
} dwPole;

typedef struct dwPoleDetection
{
    uint32_t numPoles;

    dwPole poles[DW_POLE_DETECTION_MAX_COUNT];
} dwPoleDetection;

typedef struct dwLandmark
{
    uint32_t trackId;

    float32_t confidence;

    uint32_t numPoints;

    dwLandmarkAttribute landmarkAttribute;

    bool isClose;

    dwVector2f imagePoints[DW_LANDMARK_POINT_MAX_COUNT];

    dwVector3f worldPoints[DW_LANDMARK_POINT_MAX_COUNT];
} dwLandmark;

typedef struct dwLandmarkDetection
{
    uint32_t numLandmarks;

    dwLandmark landmarks[DW_LANDMARK_MAX_COUNT];

} dwLandmarkDetection;

#endif // DW_PERCEPTION_LANDMARKS_CAMERA_LANDMARKDETECTOR_TYPES_H_